Allow user to override preset from the command line, also fixing an i…

…ssue with new Gym api

dedo/__init__.py

@@ -38,10 +38,10 @@
                 versions.append(obj_name)
     # Register v0 as random material textures and the rest of task versions.
     cls_nm = 'DeformRobotEnv' if task.startswith('FoodPacking') else 'DeformEnv'
-    register(id=task+'-v'+str(0), entry_point='dedo.envs:'+cls_nm)
+    register(id=task+'-v'+str(0), entry_point='dedo.envs:'+cls_nm, order_enforce=False)
     for version_id, obj_name in enumerate(versions):
         register(id=task+'-v'+str(version_id+1),
-                 entry_point='dedo.envs:'+cls_nm)
+                 entry_point='dedo.envs:'+cls_nm, order_enforce=False)
 
 # Register dual-arm robot tasks.
 register(id='HangGarmentRobot-v1', entry_point='dedo.envs:DeformRobotEnv')

dedo/demo_preset.py

@@ -29,7 +29,7 @@
 from dedo.utils.bullet_manipulator import convert_all
 
 # TODO(yonkshi): remove this before release
-from dedo.internal.waypoint_utils import create_traj
+from dedo.internal.waypoint_utils import create_traj, create_traj_savgol
 
 
 def play(env, num_episodes, args):
@@ -174,8 +174,25 @@ def build_traj(env, preset_wp, left_or_right, anchor_idx, ctrl_freq, robot):
     # exit(1)
     # WARNING: old code below.
     traj_pos_vel = create_traj(init_anc_pos, wp[:, :3], steps, ctrl_freq)
+
     pos_traj = traj_pos_vel[:, :3]
     vel_traj = traj_pos_vel[:, 3:]
+    # traj_pos_vel = create_traj_savgol(init_anc_pos, wp[:, :3], steps, ctrl_freq)
+    #
+    # # TODO Debug viz
+    # import matplotlib
+    # matplotlib.use('TkAgg')
+    # from mpl_toolkits import mplot3d
+    # import matplotlib.pyplot as plt
+    # fig = plt.figure()
+    # ax = plt.axes(projection='3d')
+    #
+    # ax.plot3D(pos_traj[:, 0], pos_traj[:, 1], pos_traj[:, 2], label='default', linestyle="",marker=".")
+    # ax.plot3D(traj_pos_vel[:, 0], traj_pos_vel[:, 1], traj_pos_vel[:, 2], label='savgol', linestyle="", marker=".")
+    # ax.plot3D(wp[:, 0], wp[:, 1], wp[:, 2], label='WP', linestyle="", marker="o")
+    # plt.legend()
+    # plt.show()
+    # print('debug end')
     # plot_traj(pos_traj)
     from scipy.interpolate import interp1d
     # xi = interp1d(ids, waypoints[:, 0], kind='cubic')(interp_i)

dedo/envs/deform_env.py

@@ -29,6 +29,7 @@
     TOTE_MAJOR_VERSIONS, TOTE_VARS_PER_VERSION)
 from ..utils.procedural_utils import (
     gen_procedural_hang_cloth, gen_procedural_button_cloth)
+from ..utils.args import preset_override_util
 
 
 class DeformEnv(gym.Env):
@@ -139,15 +140,13 @@ def load_objects(self, sim, args, debug):
                 args.num_holes = args.version
             deform_obj = gen_procedural_hang_cloth(
                 self.args, 'procedural_hang_cloth', DEFORM_INFO)
-            for arg_nm, arg_val in DEFORM_INFO[deform_obj].items():
-                setattr(args, arg_nm, arg_val)
+            preset_override_util(args, DEFORM_INFO[deform_obj])
         elif self.args.task == 'ButtonProc':  # procedural gen. for buttoning
             args.num_holes = 2
             args.node_density = 15
             deform_obj, hole_centers = gen_procedural_button_cloth(
                 self.args, 'proc_button_cloth', DEFORM_INFO)
-            for arg_nm, arg_val in DEFORM_INFO[deform_obj].items():
-                setattr(args, arg_nm, arg_val)
+            preset_override_util(args, DEFORM_INFO[deform_obj])
             # Move buttons to match hole position.
             h1, h2 = hole_centers
             h1 = (-h1[1], 0, h1[2]+2)
@@ -186,11 +185,9 @@ def load_objects(self, sim, args, debug):
             else:
                 deform_obj = TASK_INFO[args.task][args.version - 1]
 
-            for arg_nm, arg_val in DEFORM_INFO[deform_obj].items():
-                setattr(args, arg_nm, arg_val)
+            preset_override_util(args, DEFORM_INFO[deform_obj])
         if deform_obj in DEFORM_INFO:
-            for arg_nm, arg_val in DEFORM_INFO[deform_obj].items():
-                setattr(args, arg_nm, arg_val)
+            preset_override_util(args, DEFORM_INFO[deform_obj])
 
         # Load rigid objects.
         rigid_ids = []

dedo/internal/waypoint_utils.py

@@ -8,21 +8,20 @@
 from scipy.signal import savgol_filter
 
 
-def create_traj_savgol(waypts, steps_per_waypt):
+def create_traj_savgol(init_pos, waypts, steps_per_waypt, frequency):
     '''
-
     :param waypts:
     :param steps_per_waypt:
     :return:
     '''
     """A scratch function to smooth trajectory."""
-    waypts = waypts.reshape(-1, 3)
+    waypts = np.concatenate([[init_pos], waypts], axis=0)
     n_waypts = waypts.shape[0]
     dists = []
     for i in range(n_waypts-1):
         dists.append(np.linalg.norm(waypts[i]-waypts[i+1]))
     tot_dist = sum(dists)
-    t_max = n_waypts*steps_per_waypt
+    t_max = sum(steps_per_waypt)
     dense_waypts = np.zeros((t_max, 3))
     t = 0
     for i in range(n_waypts-1):
@@ -33,8 +32,9 @@ def create_traj_savgol(waypts, steps_per_waypt):
     if t < t_max:
         dense_waypts[t:,:] = dense_waypts[t-1,:]  # set rest to last entry
     # dense_waypts = np.repeat(waypts, steps_per_waypt, axis=0)  # simple repeat
+    window_len = int(sum(steps_per_waypt) / len(waypts) * 2 + 1)
     dense_waypts = savgol_filter(dense_waypts,
-                                 window_length=int(steps_per_waypt*2+1),
+                                 window_length=window_len,
                                  polyorder=4, axis=0)
     print('dense_waypts', dense_waypts.shape)
     return dense_waypts

dedo/utils/args.py

@@ -10,8 +10,9 @@
 
 """
 import argparse
-
+import sys
 from .task_info import TASK_INFO
+import re
 
 
 def get_args_parser():
@@ -165,3 +166,21 @@ def get_args():
     args_postprocess(args)
     return args
 
+
+def preset_override_util(args, deform_obj):
+    '''
+    Overrides args object with preset information (deform_obj).
+    Moreover users can override the override.
+    '''
+
+    # Regex to extract raw arg names from sys.argv
+    user_raw_args = []
+    for argv in sys.argv:
+        m = re.search("(?:--)([a-zA-Z0-9-_]+)(?:=)?", argv)
+        if m is not None:
+            user_raw_args.append(m.group(1)) # gets the var name
+
+    for arg_nm, arg_val in deform_obj.items():
+        if arg_nm in user_raw_args:   # User overrides the preset arg
+            continue
+        setattr(args, arg_nm, arg_val)

dedo/utils/procedural_utils.py

@@ -1,8 +1,12 @@
 """
 Utilities for generating procedural cloth.
 
-TODO(yonkshi): add brief function-level descriptions, address TODO in
-    create_cloth_obj and clean up.
+Procedural generation works as follows:
+1. Generate a mesh, randomly carves out a square hole.
+2. If hole > 1, also checks for overlapping of two holes. If overlap, randomly choose a new hole position. Repeat until no overlap found.
+3. Saves hollowed mesh into .obj file in the /tmp/ directory.
+
+
 
 
 Note: this code is for research i.e. quick experimentation; it has minimal
@@ -157,7 +161,7 @@ def gen_random_hole(node_density, dim_constraints):
 
 
 def try_gen_holes(node_density, num_holes, constraints):
-    for i in range(1000):  # 100 MC
+    for i in range(1000):  # 1000 MC
         if num_holes == 2:
             holeA = gen_random_hole(node_density, constraints)
             holeB = gen_random_hole(node_density, constraints)
@@ -216,7 +220,6 @@ def validate_and_integerize(hole):
         # Check if file already exists
         if not os.path.exists(os.path.join(data_path, "generated_cloth")):
             os.makedirs(os.path.join(data_path, "generated_cloth"))
-        # TODO(yonkshi): hole outside loop; please check
         fnm = "cloth_" + str(node_density) + "_" + str(hole[0]['x']) + "_" + \
               str(hole[0]['y']) + "_" + str(hole[0]['x']) + "_" + \
               str(min_point[0]) + "_" + str(min_point[1]) + "_" + \